Malaysia's rapid economic and demographic development have placed negative pressure on its water supplies and the quality of the Juru River, which is close to the nation's capital and its major source of water...Malaysia's rapid economic and demographic development have placed negative pressure on its water supplies and the quality of the Juru River, which is close to the nation's capital and its major source of water. Healthy aquatic ecosystems are supported by physicochemical properties and biological diversity. This study evaluated the anthropogenic impacts on aquatic biodiversity, especially plankton, fish, and macrobenthos, as well as the water quality of the Juru River in the Penang area. Aquatic biodiversity and river water parameters were collected from ten sampling stations along the Juru River. Seven variables were used to assess the physicochemical environment: pH, temperature, total suspended solids (TSS), salinity, dissolved oxygen (DO), biochemical oxygen demand (BOD), and chemical oxygen demand. At each sampling station, the total number of plankton, fish, and macrobenthic taxa were counted and analyzed. The relationships between the physicochemical parameters and aquatic biodiversity were investigated with biotypological analysis, principal component analysis, hierarchical cluster analysis, and linear regression analysis. These analyses showed that the richness and diversity indices were generally influenced by salinity, temperature, TSS, BOD, and pH. The data obtained in this study supported the bioindicator concept. The findings, as they related to scientifically informed conservation, could serve as a model for Juru River management, as well as for river management throughout Malaysia and other tropical Asian countries.展开更多
Mechanical excavation,blasting,adjacent rockburst and fracture slip that occur during mining excavation impose dynamic loads on the rock mass,leading to further fracture of damaged surrounding rock in three-dimensiona...Mechanical excavation,blasting,adjacent rockburst and fracture slip that occur during mining excavation impose dynamic loads on the rock mass,leading to further fracture of damaged surrounding rock in three-dimensional high-stress and even causing disasters.Therefore,a novel complex true triaxial static-dynamic combined loading method reflecting underground excavation damage and then frequent intermittent disturbance failure is proposed.True triaxial static compression and intermittent disturbance tests are carried out on monzogabbro.The effects of intermediate principal stress and amplitude on the strength characteristics,deformation characteristics,failure characteristics,and precursors of monzogabbro are analyzed,intermediate principal stress and amplitude increase monzogabbro strength and tensile fracture mechanism.Rapid increases in microseismic parameters during rock loading can be precursors for intermittent rock disturbance.Based on the experimental result,the new damage fractional elements and method with considering crack initiation stress and crack unstable stress as initiation and acceleration condition of intermittent disturbance irreversible deformation are proposed.A novel three-dimensional disturbance fractional deterioration model considering the intermediate principal stress effect and intermittent disturbance damage effect is established,and the model predicted results align well with the experimental results.The sensitivity of stress states and model parameters is further explored,and the intermittent disturbance behaviors at different f are predicted.This study provides valuable theoretical bases for the stability analysis of deep mining engineering under dynamic loads.展开更多
Uniaxial compression tests and cyclic loading acoustic emission tests were conducted on 20%,40%,60%,80%,dry and saturated muddy sandstone by using a creep impact loading system to investigate the mechanical properties...Uniaxial compression tests and cyclic loading acoustic emission tests were conducted on 20%,40%,60%,80%,dry and saturated muddy sandstone by using a creep impact loading system to investigate the mechanical properties and acoustic emission characteristics of soft rocks with different water contents under dynamic disturbance.The mechanical properties and acoustic emission characteristics of muddy sandstones at different water contents were analysed.Results of experimental studies show that water is a key factor in the mechanical properties of rocks,softening them,increasing their porosity,reducing their brittleness and increasing their plasticity.Under uniaxial compression,the macroscopic damage characteristics of the muddy sandstone change from mono-bevel shear damage and‘X’type conjugate bevel shear damage to a roadway bottom-drum type damage as the water content increases.Dynamic perturbation has a strengthening effect on the mechanical properties of samples with 60%and less water content,and a weakening effect on samples with 80%and more water content,but the weakening effect is not obvious.Macroscopic damage characteristics of dry samples remain unchanged,water samples from shear damage and tensile–shear composite damage gradually transformed into cleavage damage,until saturation transformation monoclinic shear damage.The evolution of acoustic emission energy and event number is mainly divided into four stages:loading stage(Ⅰ),dynamic loading stage(Ⅱ),yield failure stage(Ⅲ),and post-peak stage(Ⅳ),the acoustic emission characteristics of the stages were different for different water contents.The characteristic value of acoustic emission key point frequency gradually decreases,and the damage degree of the specimen increases,corresponding to low water content—high main frequency—low damage and high water content—low main frequency—high damage.展开更多
Degradation of rock mass produced by rock blasting,stress relief,and other causes is an important factor in the assessment of rock strength.Quantified as a disturbance factor,such degradation varies depending on blast...Degradation of rock mass produced by rock blasting,stress relief,and other causes is an important factor in the assessment of rock strength.Quantified as a disturbance factor,such degradation varies depending on blasting control,stress state and stress relief,and rock mass quality.This study focuses on the impact of disturbance on the safety of slopes.The disturbance in the rock mass is characterized by the geometry of the disturbed zone,its size,the magnitude,and the decaying rate with the distance away from the slope surface.A method accounting for decay of rock disturbance is presented.A study of the impact of rock disturbance characteristics on the quantitative stability measures of slopes was carried out.These characteristics included disturbed zone geometry,its thickness,the maximum magnitude of the disturbance factor,and the rate of disturbance decaying.The thickness of the disturbed zone and the maximum factor of disturbance were found to have the greatest impact.For example,the factor of safety for a 45slope in low-quality rock mass can decrease from 1.96 to 1.09 as the thickness of the disturbed zone increases from 1/4 of slope height H to the double of H and the maximum disturbance factor increases from 0.5 to 1.Uniform thickness of a disturbed zone was found to yield more conservative outcomes than the triangular zones did.The critical failure surfaces were found to be shallow for high rates of disturbance decay,and they were the deepest for spatially uniform disturbance factors.展开更多
An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control...An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.展开更多
Wet flue gas desulphurization technology is widely used in the industrial process for its capability of efficient pollution removal.The desulphurization control system,however,is subjected to complex reaction mechanis...Wet flue gas desulphurization technology is widely used in the industrial process for its capability of efficient pollution removal.The desulphurization control system,however,is subjected to complex reaction mechanisms and severe disturbances,which make for it difficult to achieve certain practically relevant control goals including emission and economic performances as well as system robustness.To address these challenges,a new robust control scheme based on uncertainty and disturbance estimator(UDE)and model predictive control(MPC)is proposed in this paper.The UDE is used to estimate and dynamically compensate acting disturbances,whereas MPC is deployed for optimal feedback regulation of the resultant dynamics.By viewing the system nonlinearities and unknown dynamics as disturbances,the proposed control framework allows to locally treat the considered nonlinear plant as a linear one.The obtained simulation results confirm that the utilization of UDE makes the tracking error negligibly small,even in the presence of unmodeled dynamics.In the conducted comparison study,the introduced control scheme outperforms both the standard MPC and PID(proportional-integral-derivative)control strategies in terms of transient performance and robustness.Furthermore,the results reveal that a lowpass-filter time constant has a significant effect on the robustness and the convergence range of the tracking error.展开更多
As a crucial component of terrestrial ecosystems,urban forests play a pivotal role in protecting urban biodiversity by providing suitable habitats for acoustic spaces.Previous studies note that vegetation structure is...As a crucial component of terrestrial ecosystems,urban forests play a pivotal role in protecting urban biodiversity by providing suitable habitats for acoustic spaces.Previous studies note that vegetation structure is a key factor influencing bird sounds in urban forests;hence,adjusting the frequency composition may be a strategy for birds to avoid anthropogenic noise to mask their songs.However,it is unknown whether the response mechanisms of bird vocalizations to vegetation structure remain consistent despite being impacted by anthropogenic noise.It was hypothesized that anthropogenic noise in urban forests occupies the low-frequency space of bird songs,leading to a possible reshaping of the acoustic niches of forests,and the vegetation structure of urban forests is the critical factor that shapes the acoustic space for bird vocalization.Passive acoustic monitoring in various urban forests was used to monitor natural and anthropogenic noises,and sounds were classified into three acoustic scenes(bird sounds,human sounds,and bird-human sounds)to determine interconnections between bird sounds,anthropogenic noise,and vegetation structure.Anthropogenic noise altered the acoustic niche of urban forests by intruding into the low-frequency space used by birds,and vegetation structures related to volume(trunk volume and branch volume)and density(number of branches and leaf area index)significantly impact the diversity of bird sounds.Our findings indicate that the response to low and high frequency signals to vegetation structure is distinct.By clarifying this relationship,our results contribute to understanding of how vegetation structure influences bird sounds in urban forests impacted by anthropogenic noise.展开更多
Whether climate change or anthropogenic activities play a more pivotal role in regulating vegetation growth on the Tibetan Plateau is still controversial.A better understanding on grassland changes at a fine scale may...Whether climate change or anthropogenic activities play a more pivotal role in regulating vegetation growth on the Tibetan Plateau is still controversial.A better understanding on grassland changes at a fine scale may provide important guidance for local government policy and grassland management.Using two of the most reliable satellite NDVI products(MODIS NDVI and SPOT NDVI),we evaluated the dynamic of grasslands in the Zhegucuo valley on the southern Tibetan Plateau from 2000 to 2020,and analyzed its driving factors and relative influences of climate change and anthropogenic activities.Here,the key indicators of climate change were assumed to be precipitation and temperature.The main results were:(1)the grassland NDVI in Zhegucuo valley did not reflect a significant temporal change during the last 21 years.The variation of precipitation during the early growing season(GSP)resembled that of NDVI,and the GSP was positively correlated with NDVI.At the pixel level,the partial correlation analysis showed that 37.79%of the pixels depicted a positive relationship between GSP and NDVI,while 11.32%of the pixels showed a negative relationship between temperature during the early growing season(GST)and NDVI.(2)In view of the spatial distribution,the areas mainly controlled by GSP were generally distributed in the southern part,while those affected by GST stood in the eastern part,mainly around the Zhegucuo lake where most population in Cuomei County settled down.(3)Decreasing NDVI trends were mainly occurred in alpine steppe at lower elevations rather than alpine meadow at higher elevations.(4)The residual trend(RESTREND)analysis further indicated that the anthropogenic activities played a more pivotal role in regulating the annual changes of NDVI rather than climate factors in this area.Future studies should pay more attention on climate extremes rather than the simple temporal trends.Also,the influence of human activities on alpine grassland needs to be accessed and fully considered in future sustainable management.展开更多
Disturbances such as forest fires,intense winds,and insect damage exert strong impacts on forest ecosystems by shaping their structure and growth dynamics,with contributions from climate change.Consequently,there is a...Disturbances such as forest fires,intense winds,and insect damage exert strong impacts on forest ecosystems by shaping their structure and growth dynamics,with contributions from climate change.Consequently,there is a need for reliable and operational methods to monitor and map these disturbances for the development of suitable management strategies.While susceptibility assessment using machine learning methods has increased,most studies have focused on a single disturbance.Moreover,there has been limited exploration of the use of“Automated Machine Learning(AutoML)”in the literature.In this study,susceptibility assessment for multiple forest disturbances(fires,insect damage,and wind damage)was conducted using the PyCaret AutoML framework in the Izmir Regional Forest Directorate(RFD)in Turkey.The AutoML framework compared 14 machine learning algorithms and ranked the best models based on AUC(area under the curve)values.The extra tree classifier(ET)algorithm was selected for modeling the susceptibility of each disturbance due to its good performance(AUC values>0.98).The study evaluated susceptibilities for both individual and multiple disturbances,creating a total of four susceptibility maps using fifteen driving factors in the assessment.According to the results,82.5%of forested areas in the Izmir RFD are susceptible to multiple disturbances at high and very high levels.Additionally,a potential forest disturbances map was created,revealing that 15.6%of forested areas in the Izmir RFD may experience no damage from the disturbances considered,while 54.2%could face damage from all three disturbances.The SHAP(Shapley Additive exPlanations)methodology was applied to evaluate the importance of features on prediction and the nonlinear relationship between explanatory features and susceptibility to disturbance.展开更多
Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
The elastic thickness parameter was estimated using the mobile correlation technique between the observed isostatic disturbance and the gravity disturbance calculated through direct gravimetric modeling. We computed t...The elastic thickness parameter was estimated using the mobile correlation technique between the observed isostatic disturbance and the gravity disturbance calculated through direct gravimetric modeling. We computed the vertical flexure value of the crust for a specific elastic thickness using a given topographic dataset. The gravity disturbance due to the topography was determined after the calculation. A grid of values for the elastic thickness parameter was generated. Then, a moving correlation was performed between the observed gravity data(representing actual surface data) and the calculated data from the forward modeling. The optimum elastic thickness of the particular point corresponded to the highest correlation coefficient. The methodology was tested on synthetic data and showed that the synthetic depth closely matched the original depth, including the elastic thickness value. To validate the results, the described procedure was applied to a real dataset from the Barreirinhas Basin, situated in the northeastern region of Brazil. The results show that the obtained crustal depth is highly correlated with the depth from known models. Additionally, we noted that the elastic thickness behaves as expected, decreasing from the continent towards the ocean. Based on the results, this method has the potential to be employed as a direct estimate of crustal depth and elastic thickness for any region.展开更多
During the construction and operation of the abandoned mine pumped storage power station,the underground space surrounding rock body faces the complex stress environment under the action of mining disturbance,frequent...During the construction and operation of the abandoned mine pumped storage power station,the underground space surrounding rock body faces the complex stress environment under the action of mining disturbance,frequent pumping,water storage and other dynamic disturbances.The stability of the abandoned mine surrounding rock body is the basis for guaranteeing the safety and effectiveness of water storage in the underground space of the abandoned mine.By considering the two main factors of different stress levels and disturbance amplitudes,the mechanical properties,damage characteristics and acoustic emission characteristics of the abandoned mine perimeter rock body under dynamic disturbance were investigated using a creep-disturbed dynamic impact loading system.The experimental results show that:1)The stress level is considered to be the major contributing factor of the failure of muddy sandstone,followed by the amplitude of the disturbances;2)The time required for the destruction of muddy sandstone decreases with the increase of amplitude.When the stress level is 80%,the sandstone specimens have a decreasing number of cycles as the disturbance amplitude increases.The disturbance amplitude is sequentially increased from 4 MPa to 5,6,7,and 8 MPa,the number of cycles required for specimen destruction decreases significantly by 96.71%,99.13%,99.60%,and 99.93%,respectively;3)Disturbance amplitude and stress level have a significant effect on muddy sandstone damage and damage occurs only after a certain threshold is reached.With the increase of stress level and disturbance amplitude,the macroscopic damage of muddy sandstone is mainly conical,with obvious flake spalling and poor damage integrity;4)According to the time-dependent changes in AE energy and ringing counts,the acoustic emission activity during the failure process could be divided into three phases,namely,weakening period,smooth period,and surge period,corresponding to the compaction phase,elastic rise phase and post-peak damage phase.The research results are of reference significance for the damage evolution analysis of muddy sandstone under dynamic disturbance and the safety and stability of abandoned mine perimeter rock body.展开更多
Understanding how past disturbances have influenced the development of forests is critical for deciphering their current structure and composition and forecasting future changes.In this study,dendrochronological metho...Understanding how past disturbances have influenced the development of forests is critical for deciphering their current structure and composition and forecasting future changes.In this study,dendrochronological methods were applied to uncover the disturbance history of old-growth hemlock-dominated forests in central Bhutan.Analysis of tree-ring samples from two old-growth hemlock stands,located in two different topographic settings,identified the importance of gap-phase dynamics in facilitating recruitment and growth releases and producing complex,multi-aged structure s over time.One site showed evidence of a near stand-replacing disturbance in the late 1700s,while the other showed no evide nce of high-severity disturbance at any time over the last 400 years.At both sites low-to medium-severity disturbances,some of which appear to be associated with cyclones originating in the Bay of Bengal,dominated the disturbance regime.The hemlock stands exhibited a significant positive association between cyclone occurrence and growth release events and between recruitment pulses and growth release events.From 1800 to 1970 there was an increase in recruitment of angiosperm tree species at most sites and a corresponding decline in conifer recruitment.Over the past 50 years there has been little new recruitment;this may be due to light limitation in the understory from shade-tolerant angiosperms and bamboo in the lower strata of these stands.Significant variations in disturbance dynamics and recruitment were observed across the study sites,suggesting that other factors,such as topography and climate,may be influencing long-term stand development patterns.This study highlights the complex interplay between historical disturbance regimes and tree recruitment in shaping the age and size structures of old-growth hemlock forests in central Bhutan.It also provides new insights into the dynamics of these forests that can be used to support effective forest conservation and management in the future.展开更多
Histamine in food has attracted widespread attention due to the potential toxicity and associated health risk.However,its influences on immunological components,especially the function of key immune cells,are still po...Histamine in food has attracted widespread attention due to the potential toxicity and associated health risk.However,its influences on immunological components,especially the function of key immune cells,are still poorly known.In this work,we explored the effects of exogenous histamine on the function of key immune cells such as intestinal epithelial cells,dendritic cells,and T cells.The results showed that histamine could affect the expression of allergy-related genes in CMT93 cells at a high dose of histamine.Moreover,it’s found that histamine could cause an imbalance in the levels of relevant immune factors secreted by dendritic cells and T cells,especially those related to allergy.At the same time,the proportion of MHC class IIpositive dendritic cells and the proportion of T helper 2(Th2)cells in CD4^(+)T cells increased after histamine stimulation.We concluded that the presence of a certain level of histamine in food may affect the expression of allergy-related cytokines,disrupt the balance of the immune homeostasis,and potentially lead to adverse immune reactions.This work demonstrated the importance of including the estimation of histamine’s immune safety in aquatic products rather than merely considering the potential risk of food poisoning.展开更多
The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency di...The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency disturbance dynamic uniaxial compression tests on coal specimens using a self-developed dynamic-static load coupling electro-hydraulic servo system,and studied the strength evolutions,surface deformations,acoustic emission(AE)characteristic parameters,and the failure modes of coal specimens with different static preloading levels were studied.The disturbance damage is positively correlated with the coal specimen static preload level.Specifically,the cumulative AE count rates of the initial accelerated damage stage for the coal specimens with static preloading level of 60%and 70%of the uniaxial compressive strength(UCS)were 2.66 and 3.19 times that of the 50%UCS specimens,respectively.Macroscopically,this behaviour manifested as a decrease in the compressive strength,and the mean strengths of the disturbance-damaged coal specimens with 60%and 70%of UCS static preloading decreased by 8.53%and 9.32%,respectively,compared to those of the specimens under pure static loading.The crack sources,such as the primary fissures,strongly control the dynamic response of the coal specimen.The difference between the dynamic responses of the coal specimens and that of dense rocks is significant.展开更多
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
Slug flow or high GVF(Gas Volume Fraction)conditions can cause pressure disturbance waves and alternating loads at the boundary of mechanical seals for multiphase pumps,endangering the safety of multiphase pump units....Slug flow or high GVF(Gas Volume Fraction)conditions can cause pressure disturbance waves and alternating loads at the boundary of mechanical seals for multiphase pumps,endangering the safety of multiphase pump units.The mechanical seal model is simplified by using periodic boundary conditions and numerical calculations are carried out based on the Zwart-Gerber-Belamri cavitation model.UDF(User Define Function)programs such as structural dynamics equations,alternating load equations,and pressure disturbance equations are embedded in numerical calculations,and the dynamic response characteristics of mechanical seal are studied using layered dynamic mesh technology.The results show that when the pressure disturbance occurs at the inlet,as the amplitude and period of the disturbance increase,the film thickness gradually decreases.And the fundamental reason for the hysteresis of the film thickness change is that the pressure in the high-pressure area cannot be restored in a timely manner.The maximum value of leakage and the minimum value of axial velocity are independent of the disturbance period and determined by the disturbance amplitude.The mutual interference between enhanced waves does not have a significant impact on the film thickness,while the front wave in the attenuated wave has a promoting effect on the subsequent film thickness changes,and the fluctuation of the liquid film cavitation rate and axial velocity under the attenuated wave condition deviates from the initial values.Compared with pressure disturbance conditions,alternating load conditions have a more significant impact on film thickness and leakage.During actual operation,it is necessary to avoid alternating load conditions in multiphase pump mechanical seals.展开更多
This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with th...This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.展开更多
Livestock grazing has a significant impact on natural grasslands,with approximately one-third of the world’s land area dedicated to this industry.Around 20%of global grasslands are highly degraded due to overgrazing,...Livestock grazing has a significant impact on natural grasslands,with approximately one-third of the world’s land area dedicated to this industry.Around 20%of global grasslands are highly degraded due to overgrazing,affecting their productivity and conservation capacity.Best practices are required to ensure sustainable livestock production that supports biodiversity.The Intermediate Disturbance Hypothesis(IDH)suggests that environments with moderate levels of disturbance exhibit a higher species diversity.Moderate grazing can reduce the dominance of certain species,thereby enhancing plant diversity.However,concerns arise regarding the increase of exotic and unpalatable species under moderate grazing levels,complicating grassland conservation efforts.The impact of livestock grazing on the functional structure of grasslands depends on factors such as grazing intensity,livestock species,and environmental conditions.Variations in grazing intensity may increase specific and functional diversity under moderate grazing,potentially masking the presence of invasive exotic species.In the Austral Pampas(Pampean phytogeographic province,Buenos Aires,Argentina),grasslands face various pressures from domestic livestock grazing that endanger their integrity if not properly managed.Therefore,our study aims to investigate potential differences in species richness and diversity,functional diversity,exotic plant abundance,and the number and distribution of plant functional groups across varying grazing intensities.The IDH is utilized as a tool to regulate livestock pressure for grassland conservation.Species and functional diversity indices were used to assess the impact of grazing on grassland diversity.Moderate grazing increased species and functional diversity,while intensively grazed or ungrazed areas showed reduced diversity.Livestock presence influenced the balance between native and exotic plants,with ungrazed areas having higher native plant abundance and grazed areas exhibiting higher exotic plant abundance.Grazing also influenced the composition of functional groups,with grazing-avoiding species being more prevalent in heavily grazed areas.Principal Component Analysis revealed a clear association between vegetation composition and livestock grazing intensity.These findings offer valuable insights into effectively managing grazing intensity for biodiversity conservation purposes.展开更多
Coastal wetlands are hotspots for nitrogen(N)cycling,and crab burrowing is known to transform N in intertidal marsh soils.However,the underlying mechanisms remain unclear.This study conducted field experiments and use...Coastal wetlands are hotspots for nitrogen(N)cycling,and crab burrowing is known to transform N in intertidal marsh soils.However,the underlying mechanisms remain unclear.This study conducted field experiments and used indoor control test devices to investigate the seasonal response of nitrogen to crab disturbance at the sediment-water interface in coastal tidal flat wetlands.The results showed that crab disturbance exhibited significant seasonality with large seasonal differences in cave density and depth.Due to crab disturbance,nitrogen fuxes at the sediment-water interface were much greater in the box with crabs than in the box without crabs.In summer,NH-N showed a positive flux from the sediment to the overlying water,but NO2-N and NOg-N showed positive fluxes from the sediment to the overlying water only in early stages.In winter,NH-N showed a positive flux from the sediment to the overlying water,but NO-N and NO,-N both exhibited positive and negative fluxes.These results indicated that the presence of crab burrows can cause the aerobic layer to move downward by approximately 8-15 cm in summer and directly promote nitrification at the sediment surface.展开更多
文摘Malaysia's rapid economic and demographic development have placed negative pressure on its water supplies and the quality of the Juru River, which is close to the nation's capital and its major source of water. Healthy aquatic ecosystems are supported by physicochemical properties and biological diversity. This study evaluated the anthropogenic impacts on aquatic biodiversity, especially plankton, fish, and macrobenthos, as well as the water quality of the Juru River in the Penang area. Aquatic biodiversity and river water parameters were collected from ten sampling stations along the Juru River. Seven variables were used to assess the physicochemical environment: pH, temperature, total suspended solids (TSS), salinity, dissolved oxygen (DO), biochemical oxygen demand (BOD), and chemical oxygen demand. At each sampling station, the total number of plankton, fish, and macrobenthic taxa were counted and analyzed. The relationships between the physicochemical parameters and aquatic biodiversity were investigated with biotypological analysis, principal component analysis, hierarchical cluster analysis, and linear regression analysis. These analyses showed that the richness and diversity indices were generally influenced by salinity, temperature, TSS, BOD, and pH. The data obtained in this study supported the bioindicator concept. The findings, as they related to scientifically informed conservation, could serve as a model for Juru River management, as well as for river management throughout Malaysia and other tropical Asian countries.
基金the financial support from the National Natural Science Foundation of China(No.52109119)the Guangxi Natural Science Foundation(No.2021GXNSFBA075030)+2 种基金the Guangxi Science and Technology Project(No.Guike AD20325002)the Chinese Postdoctoral Science Fund Project(No.2022 M723408)the Open Research Fund of State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin(China Institute of Water Resources and Hydropower Research)(No.IWHR-SKL-202202).
文摘Mechanical excavation,blasting,adjacent rockburst and fracture slip that occur during mining excavation impose dynamic loads on the rock mass,leading to further fracture of damaged surrounding rock in three-dimensional high-stress and even causing disasters.Therefore,a novel complex true triaxial static-dynamic combined loading method reflecting underground excavation damage and then frequent intermittent disturbance failure is proposed.True triaxial static compression and intermittent disturbance tests are carried out on monzogabbro.The effects of intermediate principal stress and amplitude on the strength characteristics,deformation characteristics,failure characteristics,and precursors of monzogabbro are analyzed,intermediate principal stress and amplitude increase monzogabbro strength and tensile fracture mechanism.Rapid increases in microseismic parameters during rock loading can be precursors for intermittent rock disturbance.Based on the experimental result,the new damage fractional elements and method with considering crack initiation stress and crack unstable stress as initiation and acceleration condition of intermittent disturbance irreversible deformation are proposed.A novel three-dimensional disturbance fractional deterioration model considering the intermediate principal stress effect and intermittent disturbance damage effect is established,and the model predicted results align well with the experimental results.The sensitivity of stress states and model parameters is further explored,and the intermittent disturbance behaviors at different f are predicted.This study provides valuable theoretical bases for the stability analysis of deep mining engineering under dynamic loads.
基金National Natural Science Foundation of China (No. 52204101)Natural Science Foundation of Shandong Province (No. ZR2022QE137)Open Project of State Key Laboratory for Geomechanics and Deep Underground Engineering in CUMTB (No. SKLGDUEK2023).
文摘Uniaxial compression tests and cyclic loading acoustic emission tests were conducted on 20%,40%,60%,80%,dry and saturated muddy sandstone by using a creep impact loading system to investigate the mechanical properties and acoustic emission characteristics of soft rocks with different water contents under dynamic disturbance.The mechanical properties and acoustic emission characteristics of muddy sandstones at different water contents were analysed.Results of experimental studies show that water is a key factor in the mechanical properties of rocks,softening them,increasing their porosity,reducing their brittleness and increasing their plasticity.Under uniaxial compression,the macroscopic damage characteristics of the muddy sandstone change from mono-bevel shear damage and‘X’type conjugate bevel shear damage to a roadway bottom-drum type damage as the water content increases.Dynamic perturbation has a strengthening effect on the mechanical properties of samples with 60%and less water content,and a weakening effect on samples with 80%and more water content,but the weakening effect is not obvious.Macroscopic damage characteristics of dry samples remain unchanged,water samples from shear damage and tensile–shear composite damage gradually transformed into cleavage damage,until saturation transformation monoclinic shear damage.The evolution of acoustic emission energy and event number is mainly divided into four stages:loading stage(Ⅰ),dynamic loading stage(Ⅱ),yield failure stage(Ⅲ),and post-peak stage(Ⅳ),the acoustic emission characteristics of the stages were different for different water contents.The characteristic value of acoustic emission key point frequency gradually decreases,and the damage degree of the specimen increases,corresponding to low water content—high main frequency—low damage and high water content—low main frequency—high damage.
基金supported by the National Science Foundation(Grant No.CMMI-1901582)supported by the Nuclear Research and Development Program of the National Research Foundation of Korea(Grant No.2024-M2E3A2007963)the Korea Electric Power Corporation(Grant No.R22XO05-05).
文摘Degradation of rock mass produced by rock blasting,stress relief,and other causes is an important factor in the assessment of rock strength.Quantified as a disturbance factor,such degradation varies depending on blasting control,stress state and stress relief,and rock mass quality.This study focuses on the impact of disturbance on the safety of slopes.The disturbance in the rock mass is characterized by the geometry of the disturbed zone,its size,the magnitude,and the decaying rate with the distance away from the slope surface.A method accounting for decay of rock disturbance is presented.A study of the impact of rock disturbance characteristics on the quantitative stability measures of slopes was carried out.These characteristics included disturbed zone geometry,its thickness,the maximum magnitude of the disturbance factor,and the rate of disturbance decaying.The thickness of the disturbed zone and the maximum factor of disturbance were found to have the greatest impact.For example,the factor of safety for a 45slope in low-quality rock mass can decrease from 1.96 to 1.09 as the thickness of the disturbed zone increases from 1/4 of slope height H to the double of H and the maximum disturbance factor increases from 0.5 to 1.Uniform thickness of a disturbed zone was found to yield more conservative outcomes than the triangular zones did.The critical failure surfaces were found to be shallow for high rates of disturbance decay,and they were the deepest for spatially uniform disturbance factors.
基金financially supported by the Sichuan Science and Technology Program(Grant No.2023NSFSC1980)。
文摘An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.
基金supported by the key project of the National Nature Science Foundation of China(51736002).
文摘Wet flue gas desulphurization technology is widely used in the industrial process for its capability of efficient pollution removal.The desulphurization control system,however,is subjected to complex reaction mechanisms and severe disturbances,which make for it difficult to achieve certain practically relevant control goals including emission and economic performances as well as system robustness.To address these challenges,a new robust control scheme based on uncertainty and disturbance estimator(UDE)and model predictive control(MPC)is proposed in this paper.The UDE is used to estimate and dynamically compensate acting disturbances,whereas MPC is deployed for optimal feedback regulation of the resultant dynamics.By viewing the system nonlinearities and unknown dynamics as disturbances,the proposed control framework allows to locally treat the considered nonlinear plant as a linear one.The obtained simulation results confirm that the utilization of UDE makes the tracking error negligibly small,even in the presence of unmodeled dynamics.In the conducted comparison study,the introduced control scheme outperforms both the standard MPC and PID(proportional-integral-derivative)control strategies in terms of transient performance and robustness.Furthermore,the results reveal that a lowpass-filter time constant has a significant effect on the robustness and the convergence range of the tracking error.
基金the National Natural Science Foundation of China(32201338)Science Technology Program from the Forestry Administration of Guangdong Province(2021KJCX017)+1 种基金Guangzhou Municipal Science and Technology Bureau Program(2023A04J0086)Shenzhen Key Laboratory of Southern Subtropical Plant Diversity。
文摘As a crucial component of terrestrial ecosystems,urban forests play a pivotal role in protecting urban biodiversity by providing suitable habitats for acoustic spaces.Previous studies note that vegetation structure is a key factor influencing bird sounds in urban forests;hence,adjusting the frequency composition may be a strategy for birds to avoid anthropogenic noise to mask their songs.However,it is unknown whether the response mechanisms of bird vocalizations to vegetation structure remain consistent despite being impacted by anthropogenic noise.It was hypothesized that anthropogenic noise in urban forests occupies the low-frequency space of bird songs,leading to a possible reshaping of the acoustic niches of forests,and the vegetation structure of urban forests is the critical factor that shapes the acoustic space for bird vocalization.Passive acoustic monitoring in various urban forests was used to monitor natural and anthropogenic noises,and sounds were classified into three acoustic scenes(bird sounds,human sounds,and bird-human sounds)to determine interconnections between bird sounds,anthropogenic noise,and vegetation structure.Anthropogenic noise altered the acoustic niche of urban forests by intruding into the low-frequency space used by birds,and vegetation structures related to volume(trunk volume and branch volume)and density(number of branches and leaf area index)significantly impact the diversity of bird sounds.Our findings indicate that the response to low and high frequency signals to vegetation structure is distinct.By clarifying this relationship,our results contribute to understanding of how vegetation structure influences bird sounds in urban forests impacted by anthropogenic noise.
基金funded by the Second Tibetan Plateau Scientific Expedition and Research program(2019QZKK0301)the Natural Science Foundation of Xizang Autonomous Region(XZ202301ZR0027G).
文摘Whether climate change or anthropogenic activities play a more pivotal role in regulating vegetation growth on the Tibetan Plateau is still controversial.A better understanding on grassland changes at a fine scale may provide important guidance for local government policy and grassland management.Using two of the most reliable satellite NDVI products(MODIS NDVI and SPOT NDVI),we evaluated the dynamic of grasslands in the Zhegucuo valley on the southern Tibetan Plateau from 2000 to 2020,and analyzed its driving factors and relative influences of climate change and anthropogenic activities.Here,the key indicators of climate change were assumed to be precipitation and temperature.The main results were:(1)the grassland NDVI in Zhegucuo valley did not reflect a significant temporal change during the last 21 years.The variation of precipitation during the early growing season(GSP)resembled that of NDVI,and the GSP was positively correlated with NDVI.At the pixel level,the partial correlation analysis showed that 37.79%of the pixels depicted a positive relationship between GSP and NDVI,while 11.32%of the pixels showed a negative relationship between temperature during the early growing season(GST)and NDVI.(2)In view of the spatial distribution,the areas mainly controlled by GSP were generally distributed in the southern part,while those affected by GST stood in the eastern part,mainly around the Zhegucuo lake where most population in Cuomei County settled down.(3)Decreasing NDVI trends were mainly occurred in alpine steppe at lower elevations rather than alpine meadow at higher elevations.(4)The residual trend(RESTREND)analysis further indicated that the anthropogenic activities played a more pivotal role in regulating the annual changes of NDVI rather than climate factors in this area.Future studies should pay more attention on climate extremes rather than the simple temporal trends.Also,the influence of human activities on alpine grassland needs to be accessed and fully considered in future sustainable management.
文摘Disturbances such as forest fires,intense winds,and insect damage exert strong impacts on forest ecosystems by shaping their structure and growth dynamics,with contributions from climate change.Consequently,there is a need for reliable and operational methods to monitor and map these disturbances for the development of suitable management strategies.While susceptibility assessment using machine learning methods has increased,most studies have focused on a single disturbance.Moreover,there has been limited exploration of the use of“Automated Machine Learning(AutoML)”in the literature.In this study,susceptibility assessment for multiple forest disturbances(fires,insect damage,and wind damage)was conducted using the PyCaret AutoML framework in the Izmir Regional Forest Directorate(RFD)in Turkey.The AutoML framework compared 14 machine learning algorithms and ranked the best models based on AUC(area under the curve)values.The extra tree classifier(ET)algorithm was selected for modeling the susceptibility of each disturbance due to its good performance(AUC values>0.98).The study evaluated susceptibilities for both individual and multiple disturbances,creating a total of four susceptibility maps using fifteen driving factors in the assessment.According to the results,82.5%of forested areas in the Izmir RFD are susceptible to multiple disturbances at high and very high levels.Additionally,a potential forest disturbances map was created,revealing that 15.6%of forested areas in the Izmir RFD may experience no damage from the disturbances considered,while 54.2%could face damage from all three disturbances.The SHAP(Shapley Additive exPlanations)methodology was applied to evaluate the importance of features on prediction and the nonlinear relationship between explanatory features and susceptibility to disturbance.
文摘Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
文摘The elastic thickness parameter was estimated using the mobile correlation technique between the observed isostatic disturbance and the gravity disturbance calculated through direct gravimetric modeling. We computed the vertical flexure value of the crust for a specific elastic thickness using a given topographic dataset. The gravity disturbance due to the topography was determined after the calculation. A grid of values for the elastic thickness parameter was generated. Then, a moving correlation was performed between the observed gravity data(representing actual surface data) and the calculated data from the forward modeling. The optimum elastic thickness of the particular point corresponded to the highest correlation coefficient. The methodology was tested on synthetic data and showed that the synthetic depth closely matched the original depth, including the elastic thickness value. To validate the results, the described procedure was applied to a real dataset from the Barreirinhas Basin, situated in the northeastern region of Brazil. The results show that the obtained crustal depth is highly correlated with the depth from known models. Additionally, we noted that the elastic thickness behaves as expected, decreasing from the continent towards the ocean. Based on the results, this method has the potential to be employed as a direct estimate of crustal depth and elastic thickness for any region.
基金Project(52204101)supported by the National Natural Science Foundation of ChinaProject(ZR2022QE137)supported by the Natural Science Foundation of Shandong Province,ChinaProject(SKLGDUEK2023)supported by the Open Project of State Key Laboratory for Geomechanics and Deep Underground Engineering in China University of Mining&Technology,Beijing,China。
文摘During the construction and operation of the abandoned mine pumped storage power station,the underground space surrounding rock body faces the complex stress environment under the action of mining disturbance,frequent pumping,water storage and other dynamic disturbances.The stability of the abandoned mine surrounding rock body is the basis for guaranteeing the safety and effectiveness of water storage in the underground space of the abandoned mine.By considering the two main factors of different stress levels and disturbance amplitudes,the mechanical properties,damage characteristics and acoustic emission characteristics of the abandoned mine perimeter rock body under dynamic disturbance were investigated using a creep-disturbed dynamic impact loading system.The experimental results show that:1)The stress level is considered to be the major contributing factor of the failure of muddy sandstone,followed by the amplitude of the disturbances;2)The time required for the destruction of muddy sandstone decreases with the increase of amplitude.When the stress level is 80%,the sandstone specimens have a decreasing number of cycles as the disturbance amplitude increases.The disturbance amplitude is sequentially increased from 4 MPa to 5,6,7,and 8 MPa,the number of cycles required for specimen destruction decreases significantly by 96.71%,99.13%,99.60%,and 99.93%,respectively;3)Disturbance amplitude and stress level have a significant effect on muddy sandstone damage and damage occurs only after a certain threshold is reached.With the increase of stress level and disturbance amplitude,the macroscopic damage of muddy sandstone is mainly conical,with obvious flake spalling and poor damage integrity;4)According to the time-dependent changes in AE energy and ringing counts,the acoustic emission activity during the failure process could be divided into three phases,namely,weakening period,smooth period,and surge period,corresponding to the compaction phase,elastic rise phase and post-peak damage phase.The research results are of reference significance for the damage evolution analysis of muddy sandstone under dynamic disturbance and the safety and stability of abandoned mine perimeter rock body.
基金support by Melbourne International Research Scholarship (MIRS)。
文摘Understanding how past disturbances have influenced the development of forests is critical for deciphering their current structure and composition and forecasting future changes.In this study,dendrochronological methods were applied to uncover the disturbance history of old-growth hemlock-dominated forests in central Bhutan.Analysis of tree-ring samples from two old-growth hemlock stands,located in two different topographic settings,identified the importance of gap-phase dynamics in facilitating recruitment and growth releases and producing complex,multi-aged structure s over time.One site showed evidence of a near stand-replacing disturbance in the late 1700s,while the other showed no evide nce of high-severity disturbance at any time over the last 400 years.At both sites low-to medium-severity disturbances,some of which appear to be associated with cyclones originating in the Bay of Bengal,dominated the disturbance regime.The hemlock stands exhibited a significant positive association between cyclone occurrence and growth release events and between recruitment pulses and growth release events.From 1800 to 1970 there was an increase in recruitment of angiosperm tree species at most sites and a corresponding decline in conifer recruitment.Over the past 50 years there has been little new recruitment;this may be due to light limitation in the understory from shade-tolerant angiosperms and bamboo in the lower strata of these stands.Significant variations in disturbance dynamics and recruitment were observed across the study sites,suggesting that other factors,such as topography and climate,may be influencing long-term stand development patterns.This study highlights the complex interplay between historical disturbance regimes and tree recruitment in shaping the age and size structures of old-growth hemlock forests in central Bhutan.It also provides new insights into the dynamics of these forests that can be used to support effective forest conservation and management in the future.
基金financially supported by the Key Project of Zhejiang Provincial Natural Science Foundation of China(LZ22C200003)the National Natural Science Foundation of China(32072290)。
文摘Histamine in food has attracted widespread attention due to the potential toxicity and associated health risk.However,its influences on immunological components,especially the function of key immune cells,are still poorly known.In this work,we explored the effects of exogenous histamine on the function of key immune cells such as intestinal epithelial cells,dendritic cells,and T cells.The results showed that histamine could affect the expression of allergy-related genes in CMT93 cells at a high dose of histamine.Moreover,it’s found that histamine could cause an imbalance in the levels of relevant immune factors secreted by dendritic cells and T cells,especially those related to allergy.At the same time,the proportion of MHC class IIpositive dendritic cells and the proportion of T helper 2(Th2)cells in CD4^(+)T cells increased after histamine stimulation.We concluded that the presence of a certain level of histamine in food may affect the expression of allergy-related cytokines,disrupt the balance of the immune homeostasis,and potentially lead to adverse immune reactions.This work demonstrated the importance of including the estimation of histamine’s immune safety in aquatic products rather than merely considering the potential risk of food poisoning.
基金Projects(51925402,52334005,52304094)supported by the National Natural Science Foundation of ChinaProject(20201102004)supported by the Shanxi Science and Technology Major Project,China。
文摘The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency disturbance dynamic uniaxial compression tests on coal specimens using a self-developed dynamic-static load coupling electro-hydraulic servo system,and studied the strength evolutions,surface deformations,acoustic emission(AE)characteristic parameters,and the failure modes of coal specimens with different static preloading levels were studied.The disturbance damage is positively correlated with the coal specimen static preload level.Specifically,the cumulative AE count rates of the initial accelerated damage stage for the coal specimens with static preloading level of 60%and 70%of the uniaxial compressive strength(UCS)were 2.66 and 3.19 times that of the 50%UCS specimens,respectively.Macroscopically,this behaviour manifested as a decrease in the compressive strength,and the mean strengths of the disturbance-damaged coal specimens with 60%and 70%of UCS static preloading decreased by 8.53%and 9.32%,respectively,compared to those of the specimens under pure static loading.The crack sources,such as the primary fissures,strongly control the dynamic response of the coal specimen.The difference between the dynamic responses of the coal specimens and that of dense rocks is significant.
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金the support of the National Natural Science Foundation of China(52372368)。
文摘Slug flow or high GVF(Gas Volume Fraction)conditions can cause pressure disturbance waves and alternating loads at the boundary of mechanical seals for multiphase pumps,endangering the safety of multiphase pump units.The mechanical seal model is simplified by using periodic boundary conditions and numerical calculations are carried out based on the Zwart-Gerber-Belamri cavitation model.UDF(User Define Function)programs such as structural dynamics equations,alternating load equations,and pressure disturbance equations are embedded in numerical calculations,and the dynamic response characteristics of mechanical seal are studied using layered dynamic mesh technology.The results show that when the pressure disturbance occurs at the inlet,as the amplitude and period of the disturbance increase,the film thickness gradually decreases.And the fundamental reason for the hysteresis of the film thickness change is that the pressure in the high-pressure area cannot be restored in a timely manner.The maximum value of leakage and the minimum value of axial velocity are independent of the disturbance period and determined by the disturbance amplitude.The mutual interference between enhanced waves does not have a significant impact on the film thickness,while the front wave in the attenuated wave has a promoting effect on the subsequent film thickness changes,and the fluctuation of the liquid film cavitation rate and axial velocity under the attenuated wave condition deviates from the initial values.Compared with pressure disturbance conditions,alternating load conditions have a more significant impact on film thickness and leakage.During actual operation,it is necessary to avoid alternating load conditions in multiphase pump mechanical seals.
基金partially supported by the National Natural Science Foundation of China (62322315,61873237)Zhejiang Provincial Natural Science Foundation of China for Distinguished Young Scholars(LR22F030003)+2 种基金the National Key Rearch and Development Funding(2018YFB1403702)the Key Rearch and Development Programs of Zhejiang Province (2023C01224)Major Project of Science and Technology Innovation in Ningbo City (2019B1003)。
文摘This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.
基金funded by CONICET(Consejo Nacional de Investigaciones Científicas y Técnicas)and SGCyT(Secretaría General de Ciencia y Tecnología,Universidad Nacional del Sur,Argentina).
文摘Livestock grazing has a significant impact on natural grasslands,with approximately one-third of the world’s land area dedicated to this industry.Around 20%of global grasslands are highly degraded due to overgrazing,affecting their productivity and conservation capacity.Best practices are required to ensure sustainable livestock production that supports biodiversity.The Intermediate Disturbance Hypothesis(IDH)suggests that environments with moderate levels of disturbance exhibit a higher species diversity.Moderate grazing can reduce the dominance of certain species,thereby enhancing plant diversity.However,concerns arise regarding the increase of exotic and unpalatable species under moderate grazing levels,complicating grassland conservation efforts.The impact of livestock grazing on the functional structure of grasslands depends on factors such as grazing intensity,livestock species,and environmental conditions.Variations in grazing intensity may increase specific and functional diversity under moderate grazing,potentially masking the presence of invasive exotic species.In the Austral Pampas(Pampean phytogeographic province,Buenos Aires,Argentina),grasslands face various pressures from domestic livestock grazing that endanger their integrity if not properly managed.Therefore,our study aims to investigate potential differences in species richness and diversity,functional diversity,exotic plant abundance,and the number and distribution of plant functional groups across varying grazing intensities.The IDH is utilized as a tool to regulate livestock pressure for grassland conservation.Species and functional diversity indices were used to assess the impact of grazing on grassland diversity.Moderate grazing increased species and functional diversity,while intensively grazed or ungrazed areas showed reduced diversity.Livestock presence influenced the balance between native and exotic plants,with ungrazed areas having higher native plant abundance and grazed areas exhibiting higher exotic plant abundance.Grazing also influenced the composition of functional groups,with grazing-avoiding species being more prevalent in heavily grazed areas.Principal Component Analysis revealed a clear association between vegetation composition and livestock grazing intensity.These findings offer valuable insights into effectively managing grazing intensity for biodiversity conservation purposes.
基金supported by the National Natural Science Foundation of China(Grant No.52271273)the Open Foundation of the Key Laboratory of Ministry of Education for Coastal Disaster and Protection(Grant No.Z202201)。
文摘Coastal wetlands are hotspots for nitrogen(N)cycling,and crab burrowing is known to transform N in intertidal marsh soils.However,the underlying mechanisms remain unclear.This study conducted field experiments and used indoor control test devices to investigate the seasonal response of nitrogen to crab disturbance at the sediment-water interface in coastal tidal flat wetlands.The results showed that crab disturbance exhibited significant seasonality with large seasonal differences in cave density and depth.Due to crab disturbance,nitrogen fuxes at the sediment-water interface were much greater in the box with crabs than in the box without crabs.In summer,NH-N showed a positive flux from the sediment to the overlying water,but NO2-N and NOg-N showed positive fluxes from the sediment to the overlying water only in early stages.In winter,NH-N showed a positive flux from the sediment to the overlying water,but NO-N and NO,-N both exhibited positive and negative fluxes.These results indicated that the presence of crab burrows can cause the aerobic layer to move downward by approximately 8-15 cm in summer and directly promote nitrification at the sediment surface.